Hindawi Publishing Corporation

The Scientific World Journal

Volume 2013, Article ID 738260, 11 pages
http://dx.doi.org/10.1155/2013/738260

Research Article
Modeling and Performance Improvement of the Constant Power
Regulator Systems in Variable Displacement Axial Piston Pump

Sung Hwan Park, Ji Min Lee, and Jong Shik Kim

School of Mechanical Engineering, Pusan National University, Jangjeon-dong, Geumjeong-gu, Busan 609-732, Republic of Korea

Correspondence should be addressed to Jong Shik Kim; jskim@pnu.edu

Received 27 May 2013; Accepted 6 August 2013

Academic Editors: F. Berto and H. Zhang

Copyright © 2013 Sung Hwan Park et al. This is an open access article distributed under the Creative Commons Attribution
License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly
cited.

An irregular performance of a mechanical-type constant power regulator is considered. In order to find the cause of an irregular
discharge flow at the cut-off pressure area, modeling and numerical simulations are performed to observe dynamic behavior of
internal parts of the constant power regulator system for a swashplate-type axial piston pump. The commercial numerical simulation
software AMESim is applied to model the mechanical-type regulator with hydraulic pump and simulate the performance of it.
The validity of the simulation model of the constant power regulator system is verified by comparing simulation results with
experiments. In order to find the cause of the irregular performance of the mechanical-type constant power regulator system,
the behavior of main components such as the spool, sleeve, and counterbalance piston is investigated using computer simulation.
The shape modification of the counterbalance piston is proposed to improve the undesirable performance of the mechanical-type
constant power regulator. The performance improvement is verified by computer simulation using AMESim software.

1. Introduction
The pressure regulators of swashplate-type variable displace-
ment axial piston pumps (VDAPP) control the swivel angle,
which changes the amount of flow rate to hydraulic circuits.
The pressure regulator is operating in accordance with the
dynamic response of the discharge pressure, and it supplies
pilot flow rate to the control piston which regulates the swivel
angle of swashplate. The pressure regulator is mainly divided
into the three types depending on the operating method, that
is, a flat cut-off type, a differential cut-off type, and a constant
power type.
The pressure regulators are usually used to save energy
of hydraulic systems in the industrial field. As the hydraulic
power unit used for movable equipment has increased, the
pressure regulators have been applied in such systems in
order to protect prime mover. Most movable hydraulic power
unit consist of motor, pumps and reservoir (MPR). An
overload of the pump can cause damage to the electric motor
and its circuits under a variety of load conditions. To avoid
these problems, power regulation of the pump is needed in
order to respond to wide varieties of loads without exceeding
the maximum power range of the prime mover. In this study,
we applied the constant power regulator to the VDAPP so
that the angle of the swashplate is automatically decreased
according to an increase of the load pressure.
Recently, electronic regulators have been studied and
commercialized [1–4]. However, the mechanical regulators
are mainly applied in the industrial field because a pro-
portional reducing pressure valve which is used as main
part of the electronic regulator has relatively poor durability
than mechanical regulator. In recently developed hydraulic
regulator systems, both the electrical and mechanical reg-
ulators are applied to hydraulic regulator system. In those
hydraulic regulator systems, the mechanical regulator is used
as emergency equipment so that it only works when the
electronic regulator fails. Due to the relatively exceptional
durability, the mechanical regulator system is especially
adopted to construction equipment and combat vehicles,
which are used for long periods in poor conditions.
On the other hand, the main problem for the develop-
ment of a mechanical regulator is in the parameter selection
of each component. The undesirable performance charac-
teristics such as irregular discharge flow in the constant
2 The Scientific World Journal
(D)
(B)
(A)
Figure 1: Sectional view of the VDAPP with the mechanical regulator.
power area and cut-off area can occur with improper design
parameter selection. In order to verify the causes of the
undesirable performance, the behavior of an internal system
must be analyzed precisely.
In this study, a new method to find out the cause
of poor performance of the mechanical regulator system
with VDAPP by using the commercial simulation software
AMESim (Advanced Modeling Environment for Simulation
of Engineering System, version 4.2, LMS, France) is proposed.
The design parameters of each component can be applied
to a nonlinear virtual model which is based on theoretical
analysis by using AMESim software [5, 6]. This approach is
used to analyze the internal motion of the spool and sleeve
in the regulator which cannot be measured in a real system.
In order to verify the accuracy of the suggested model, this
simulation result is compared with experimental output in
order to validate the simulation.
In Section 2, we present the structure and operating prin-
ciple of a constant power regulator. A mathematical analysis
for the AMESim model of a swash plate VDAPP is introduced
in Section 3. In Section 4, we compare the simulation results
with the experimental output to validate the simulation
model. Then, the shape modification of the counterbalance
piston is proposed and the effect of the improvement is
verified by computer simulation. Our conclusions are given
in Section 5.
2. The Principle of Constant Power
Regulator Operation
2.1. Structure of a Constant Power Regulator. A schematic
diagram of a swash plate VDAPP with a constant power
(E)
(C)
regulator is shown in Figure 1. Figure 2 represent hydraulic
circuit of the constant power regulator system. The constant
power regulator system consists of five parts, that is, a regula-
tor assembly (A), a control cylinder assembly (B) which con-
trols the angle of the swash plate, a counterbalance assembly
(C), a swash plate (D), and a piston (E). As shown in Figure 3,
the regulator assembly consists of a spool and sleeve. A flow
area of the regulator system is determined by relative dis-
placement between spool and sleeve. Figures 4 and 5 show the
detailed structure of the control cylinder and counterbalance.
2.2. Operation of the Constant Power Regulator. Figure 6
shows desirable response of the constant power regulator
system. As shown in Figure 7, on the other hand, the
undesirable performance of an irregular discharge flow is
observed at the cut-off pressure area in the performance
test results of developed VDAPP. The maximum magnitude
of the fluctuation is about 10 liters per minute as shown
in Figure 7. In this study, therefore, the operation principle
of the mechanical regulator with VDAPP is analyzed, and
it is modeled by using AMESim software in order to find
out the cause of the undesirable performance. Firstly, in this
section, the operation principle of the mechanical regulator
with VDAPP is described.
As shown in Figure 6, the output of the VDAPP with
the constant power regulator is divided into three operating
areas. That is maximum flow rate (𝑃0 → 𝑃1 ), constant power
(𝑃1 → 𝑃2 ), and cut-off pressure (𝑃2 → 𝑃3 ). These distinct
characteristics are determined by the complex interaction
of the regulator assembly, control cylinder assembly, and
counterbalance assembly. The operating principle of these
parts in each area is as follows.
The Scientific World Journal 3

“B” inlet
“F” case drain
“K” inlet
gage port
“J” load
sense signal
port

“K” outlet
gage port
“C” outlet
To load

Figure 2: Hydraulic circuit of the mechanical regulator of the VDAPP.

160
150
140
P3
130 P2
120
Pressure (kgf /cm2 ) 110 P1
100
90
Sleeve 80
70
60
50
40 P0
Spool 30
0 5 10 15 20 25 30 35 40 45 50 55 60
Flow rate (L/m)

Figure 6: Examples of a desirable performance curve of constant

power regulator system.

2.2.1. Maximum Flow Rate Area (𝑃0 → 𝑃1 ). As shown in

Figure 3: Regulator assembly of constant power regulator.
Control piston
Figure 4: Sectional view of control cylinder assembly.
Figure 8, the swash plate is held in a certain swivel angle.
In this area, the discharge pressure of the pump does not
feed back into the control cylinder. This causes the swash
plate to rotate in a maximum angular displacement. As a
result, the pump can supply the maximum flow rate to a load
system unless the discharge pressure of VDAPP is sufficiently
increased to a certain level by a load. At the maximum flow
rate section shown in Figure 9, the discharge flow rate cannot
be feed into the control cylinder because the spool blocks the
path of the sleeve.

2.2.2. Constant Power Area (𝑃1 → 𝑃2 ). The increased load

Counterbalance pressure makes the spool move, and pilot flow rate is supplied
piston
p
into the control cylinder [7–9]. Then, the swivel angle is
decreased as shown in Figure 10. By the kinematic constraints
of the piston, the sleeve acts as a reaction force to the swivel
torque. During this time, the swivel angle of the swash plate
should be reduced gradually in order that the VDAPP can
Edge off the
Ed h discharge the flow rate with constant power.
counterbalance piston
In the constant power area shown in Figure 11, the spool
Figure 5: Sectional view of counterbalance assembly. is moved by the pilot pressure which is equal to load pressure,
4 The Scientific World Journal

70 Discharge pressure

60
Discharge flow (L/min)

50

40 To control cylinder
(no flow rate)

30

20
Irregular discharge flow accrued at this area
10

0
5 10 15 20 25 30 35 40 45 50 55 60
Time (s)
Experiment Spring force

Figure 7: An irregular discharge flow characteristic at the cut-off Figure 9: Schematic of constant power regulator in the case of
pressure area of developed VDAPP in experiment. maximum flow rate.

Figure 8: Schematic of VDAPP in the case of maximum flow rate.

Figure 10: Schematic of VDAPP for the case of constant power.

and the spool displacement makes the flow path to the control
cylinder open. Then, the flow is supplied to the control
cylinder. Therefore, the swivel angle is decreased, and the Sleeve displacement
discharge flow rate of the pump is reduced. When the swivel
angle is decreased, the sleeve reduces or blocks the flow to
the control cylinder by the movement of the counterbalance
piston. Therefore, the displacement of the control cylinder is
adjusted according to the load variation. Consequently, the To control
increase of the load pressure decreases the discharge flow rate cylinder
of VDAPP, and that makes output power of VDAPP constant
because the output power of VDAPP is determined by the
product of load pressure and discharge flow rate.

2.2.3. Pressure Cut-off Area (𝑃2 → 𝑃3 ). When the load

pressure reaches a limit, the VDAPP makes the discharge flow Spool displacement
zero by setting the swivel angle of swash plate vertically, as
shown in Figure 12. In this section, the discharge flow rate
from VDAPP is rapidly decreased because the sleeve stroke Spring force Spring force
is blocked by the kinematic constraint of the regulator. Then,
the VDAPP sets the swash plate vertically and cuts off the Figure 11: Schematic of constant power regulator for the case of
discharge flow rate, as shown in Figure 13. constant power.
The Scientific World Journal
Figure 12: Schematic of VDAPP in the case of flow rate cut-off.
Sleeve displacement
Sleeve displacement limit
Spring force Spring force
Spring force
Figure 13: Schematic of constant power regulator in the case of flow
rate cut-off.
As previously described, these characteristics of the
pump-regulator assembly are determined by the interaction
of the spool and sleeve. The pilot pressure generated by the
load pressure of the system affects the spool.
3. Simulation Model of the Constant
Power Regulator
In this study, the mechanical regulator with VDAPP is
modeled by using AMESim software. Even though detailed
design parameters can be considered in AMESim model,
theoretical understandings of the mechanical regulator must
be preceded in order to perform more accurate modeling by
using AMESim. Therefore, the mathematical modeling of the
mechanical regulator is deduced in this section.
3.1. Modeling the Constant Power Regulator. The spool moves
when the force generated by the pilot pressure is greater than
the reaction force due to the spring. The force balance acting
5
L
Leakage
Swash-plate
pc
Abbreviation line
Sleeve Control cylinder
Figure 14: Schematic of the control cylinder [9].
on the spool can be represented as follows:
̈ + 𝑏sp 𝑥sp + 𝑘sp (𝑥0sp + 𝑥sp ) + 𝐹spr + 𝐹spf ,
𝑝sp 𝐴 sp = 𝑚sp 𝑥sp
(1)
where 𝑝sp is the pilot pressure, 𝐴 sp is the section area of the
spool, 𝑚sp is the mass of the spool, 𝑏sp is the viscous friction
coefficient between the spool and sleeve, 𝑘sp is the reacting
spring constant of the spool, 𝑥0sp is the initial stroke, 𝑥sp is
the stroke, 𝐹spr is the friction force of the spool, and 𝐹spf =
𝜌𝑄2 /𝐶𝑑 𝐴 is the flow force on the spool.
On the other hand, the stroke of the sleeve 𝑥sl can be
represented by the piston stroke of the counter balance 𝑥cb
as follows:
𝑥sl = 𝑥0sl + 𝑥cb tan 𝜃, (2)
where 𝑥0sl is the displacement of the control cylinder at the
operating point.
In the VDAPP, the displacements of the control cylinder
and the counterbalance piston are the same due to kinematic
constraint. Therefore, (2) can be expressed as
𝑥sl = 𝑥0sl + 𝑥𝑐 tan 𝜃, (3)
where 𝑥𝑐 is the displacement of the control cylinder and 𝜃 is
the taper angle of the counterbalance piston.
The force balance acting on the control cylinder can be
represented as follows [10]:
𝑝𝑐 𝐴 𝑐 = 𝑚𝑐 𝑥𝑐̈ + 𝑏𝑐 𝑥𝑐 + 𝑘𝑐 (𝑥0𝑐 + 𝑥𝑐 ) + 𝑘sl 𝑥sl sin 𝜃 cos 𝜃,
(4)
where 𝑝𝑐 is the pressure in control cylinder, 𝐴 𝑐 is the
pressurized area of the control cylinder, 𝑚𝑐 is the mass of the
control cylinder, 𝑏𝑐 is the viscous friction coefficient between
the control cylinder and a sleeve, 𝑘𝑐 is the spring constant, 𝑥0𝑐
is the initial displacement, 𝑥𝑐 is the displacement of control
cylinder, and 𝑘sl is the spring constant of the reaction spring
for the sleeve of the constant power mechanical regulator.
Figure 14 shows a schematic of the control cylinder.
The control pressure within the large servo chamber is
6 The Scientific World Journal

Force applied by Control cylinder

Yoke

Load pressure effect

Force applied to the

slipper by the shoe plate

Swash plate

Piston inertia effect

Force applied by the return spring

Viscous damping shear force
between piston and cylinder

Figure 15: Various forces acting on the control cylinder [9, 12, 13].

governed by the pressure rise rate equation and is given by where 𝐶𝑑 is flow coefficient of orifice, 𝐴 in (𝑥diff ) and
[9] 𝐴 out (𝑥diff ) represent the orifice areas, 𝑝𝑑 is discharge pressure
of the hydraulic pump, and 𝜌 is density of working fluid.
𝛽 The displacement of the control cylinder, 𝑥𝑐 in (4), is
𝑝𝑐̇ = (𝑄 − 𝑄out − 𝐴 𝑐 𝑥𝑐̇ − 𝐶𝐿 𝑝𝑐 ) , (5)
𝐴 𝑐 𝑥0𝑐 in determined by the resultant force on the swash plate as shown
in Figure 15. The various forces are expressed in the form of
where 𝛽 is the effective bulk modulus, 𝑄in is input flow rate
a complex nonlinear model. In this study, in order to derive
to control cylinder, 𝑄out is output flow rate from control
more accurate results, the VDAPP was also implemented
cylinder to reservoir, 𝐴 𝑐 is the pressurized area of control
using AMESim software.
cylinder, and 𝐶𝐿 is leakage coefficient of the control cylinder.
At mechanical-type constant power regulators, the control
3.2. Swashplate-Type VDAPP Model. A VDAPP with a
flow varies according to the relative displacement between the
mechanical regulator system was established using AMESim
spool and sleeve. Thus,
simulation software, which allows a very accurate implemen-
𝑥diff = 𝑥sp − 𝑥sl . (6) tation of the response of a nonlinear system. In the field
of hydraulic component design, AMESim is widely used to
If this relative difference 𝑥diff larger than zero, the flow optimization and performance improvement as a review of
rate supply to the control cylinder. On the other hand, if 𝑥diff the actual system [5]. Figure 16 shows an AMESim diagram
is less than zero, the flow rate drains to the reservoir from the for the analysis of the system performance of an MPR system
control cylinder. This can be expressed as that consists of nine pistons.
The maximum swivel angle was set to 16∘ , which is the
2 (𝑝𝑑 − 𝑝𝑐 ) same as in the real component, and the exclusion volume
𝑄in = 𝐶𝑑 𝐴 in (𝑥diff ) √ , 𝑄out = 0, (𝑥diff ≥ 0) , was set to 11.6 cm3 /rev. All parameters of the VDAPP are
𝜌
the actual design values used in the experimental equipment.
2𝑝𝑐 The experimental equipment was modeled by considering the
𝑄out = 𝐶𝑑 𝐴 out (𝑥diff ) √ , 𝑄in = 0, (𝑥diff < 0) , nonlinear behavior of the MPR pump system.
𝜌
If the pump is composed of an odd number of pistons,
(7) the number of discharging pistons 𝑧0 is determined by
The Scientific World Journal 7

+
m
Regulator
+
m
k
Ch F(X)
Ch X
Control cylinder
X F
VW
T +
J

Swashplate inertia

𝑉1 + 𝑉2

𝜔1𝜔2
Piston 1
𝑉1 + 𝑉2
Ch Ch
𝜔1𝜔2
Piston 2
𝜃
𝑉1 + 𝑉2

𝜔1𝜔2

+
Piston 3 J TOM
𝑉1 + 𝑉2

𝜔1𝜔2

Barrel inertia
Piston 4 Pump RPM
𝑉1 + 𝑉2

𝜔1𝜔2

Piston 5
𝑉1 + 𝑉2

𝜔1𝜔2

Piston 6
𝑉1 + 𝑉2

𝜔1𝜔2

Piston 7
𝑉1 + 𝑉2

𝜔1𝜔2

Piston 8
𝑉1 + 𝑉2

𝜔1𝜔2

Piston 9

Figure 16: Simulation diagram of constant power regulator system based on AMESim software.

the rotation angle of the piston, which located at regular 140

intervals on the plate as follows [11]:
120
𝑧+1 𝜋
𝑧0 = , (𝜃 = 0 ∼ ) , 100
2 𝑧
Pump flow (L/min)

(8)
𝑧 𝜋 2𝜋 80
𝑧0 = , (𝜃 = ∼ ).
2 𝑧 𝑧 60
Figure 17 shows the simulation result when the pump is
40
driven at 4500 rpm under no-load condition. The discharge
flow rate is the sum of the flow rate of each piston. The 20
pulsation in flow rate is observed in simulation result as
shown in Figure 17. This simulation results also show that 0
0 90 180 270 360
the average value of the discharge flow rate 49.8 L/min is less
Angle of rotary group (deg)
than the theoretical one 52 L/min because the internal leakage
through the gap between the piston and cylinder block is Piston #1 Piston #6
considered in computer simulation. Piston #2 Piston #7
According to the results based on this simulation, the Piston #3 Piston #8
Piston #4 Piston #9
volumetric efficiency of the VDAPP is approximately 96%. Piston #5 Average flow rate
A common value of volumetric efficiency of the VDAPP is
90 to 98%. Therefore, the VDAPP has satisfactory volumetric Figure 17: Simulation result of discharge flow ripple for variable
efficiency. displacement axial piston pump.
8 The Scientific World Journal

100
90
Pump discharge flow (L/min)

80
70
60
50
40
30
20 M Torque RPM
10
0
0.0 0.1 0.2 0.3 0.4 0.5
Time (s)

16.0∘ 10.0∘
14.5∘ 8.5∘
13.0∘ 7.0∘ Figure 19: Hydraulic circiut for pump test rig.
11.5∘

Figure 18: Simulation result of discharge flow ripple according to 180

swash plate angle.
160
Discharge pressure (kgf /cm2 ) 140
120
Figure 18 depicts the simulation result when the swivel
angle changes from 7 to 16∘ at intervals of 1.5∘ to step 7 under 100
no-load condition. This result shows that the discharge flow 80
increases proportionally to the swivel angle. As shown in
60
Figures 17 and 18, the AMESim simulation can implement the
main characteristics of the VDAPP. 40
20

4. Analysis and Verification 0

In this section, problems of the mechanical regulator are
considered and analyzed by AMESim simulation. Simulation
results are compared with the experimental output of the real
system in order to verify accuracy. In the AMESim simula-
tion, all of the external conditions and internal parameters
were set to be the same as those in the experiment.
Figure 19 shows the hydraulic circuit of test rig for
VDAPP. The angular velocity of the electric motor is regulated
as 4500 rpm, and the load pressure is adjusted by adjustable
relief valve which installed in the discharge line of the
VDAPP. The discharge pressure is slowly increased during
45 seconds. The load pressure, the discharge flow rate, and
the angular velocity and the torque of the electric motor are
acquired by data acquisition board in real time.
Figure 20 shows the load pressure regarding the reference
input in this simulation. In order to implement the same load
conditions, the output that was derived from the mechanical
regulator with VDAPP was used in the AMESim simulation.
Since the simulation operates under the same conditions
as the experiment, the behavior of the regulator spool and
sleeve can be inferred if the outputs of the experiment and
simulation are similar.
In Figure 21, we compare the results of the motor torque
test. Figure 22 shows the flow-pressure curves. The experi-
mental output of the constant power test is also consistent
with the simulation results. We found that the characteristics
0 5 10 15 20 25 30 35 40 45 50 55 60
Time (s)
Simulation
Experiment
Figure 20: Condition of load pressure for constant power regulator
system.
of the real component are well implemented through a
comparison between simulation and experimental results.
The discharge flow rate for this test is shown in Figure 23.
In accordance with this result, irregular discharge flow was
supplied to the system in the pressure cut-off area and the
constant power area. An analysis of the internal motion of the
spool and sleeve in the regulator, which cannot be measured
in a real system, was performed by using AMESim software.
As shown in Figure 12, the flow rate oscillates more frequently
in the simulation results, but the maximum amplitude is in
good agreement with the experimental results.
Also, the displacement of the counterbalance piston in
this simulation is shown in Figure 24. This result is in good
agreement with the designed dimension of the real system.
On the other hand, an irregular fluctuation in dis-
placement of the counterbalance piston causes pulsation
of the discharge flow rate of the VDAPP. As discussed in
previous section, the displacements of the control cylinder
The Scientific World Journal 9

26 80
24
70
22
20 60

Discharge flow (L/min)

18
Motor torque (N-m)

16 50
14
40
12
10 30
8
6 20
4 10
2
0 0
0 5 10 15 20 25 30 35 40 45 50 55 60 5 10 15 20 25 30 35 40 45 50 55 60
Time (s) Time (s)
Simulation
Simulation
Experiment
Experiment
Figure 21: Simulation and experimental results for motor torque.
Figure 23: Output of discharge flow through simulation and
experiment.
180

160 0.018
Discharge pressure (kgf /cm2 )

140 0.016
0.014
120
Displacement (m)

0.012
100
0.010
80
0.008
60
0.006
40 0.004
20 0.002
0 5 10 15 20 25 30 35 40 45 50 55
Discharge flow (L/min) 0.000
0 5 10 15 20 25 30 35 40 45 50 55 60
Simulation Time (s)
Experiment
Counterbalance piston
Figure 22: Comparison of flow-pressure curve based on simulation
and experiment. Figure 24: Simulation results of the displacement of the counterbal-
ance piston.

and the counterbalance piston are the same due to kinematic

constraint. The pressures in the control cylinder affects to
the displacement of it. The pressure in control cylinder is
regulated by the balance of inlet/outlet flow rate in the
volume of control cylinder. In addition, the inlet flow rate to
the control cylinder is decided by the relative displacement
between the spool and sleeve. Therefore, the discharge flow
rate of the VDAPP is influenced by the relative displacement
between the spool and sleeve in the constant power regulator.
Figure 25 shows the simulation results of the displace-
ments of the spool and sleeve versus time. The simulation
results in Figure 24 show that the displacement of the sleeve
and spool is distinguished at about 35 seconds. This means
that the orifice is open on this point, but counterbalance
piston does not move until 44 seconds. This phenomenon
can be explained as follows. Though the pilot flow rate is
supplied to the control cylinder at about 35 seconds, the
amount of inlet flow rate is less than that of leakage from
control cylinder. Therefore, the pressure in control cylinder
does not rise. The relative displacement between spool and
sleeve becomes sufficiently larger at around 44 seconds. At
this time, the inlet flow rate is larger than the leakage from
control cylinder. Therefore, the pressure in control cylinder
is rising and the counterbalance piston starts to move and a
constant output control begins.
By the relative motion of the spool and sleeve, the orifice
of the regulator increases proportionally to 56 seconds, and
constant power is suspended at that time. After 56 seconds,
the orifice area reaches the maximum, and the swivel angle
is set to zero. In this case, the swivel angle rapidly decreases
and is cut off because the spring force of the sleeve, which is
10 The Scientific World Journal

0.0030 0.0030

0.0025 0.0025
Displacement (m)

0.0020

Displacement (m)
0.0020

0.0015 0.0015

0.0010 0.0010

0.0005 0.0005

0.0000 0.0000
0 5 10 15 20 25 30 35 40 45 50 55 60 0 5 10 15 20 25 30 35 40 45 50 55 60
Time (s)
Time (s)
Sleeve
Sleeve
Spool
Spool
Figure 27: Simulation results of the displacement of the sleeve and
Figure 25: Simulation results of the displacement of the sleeve and
spool of the regulator with modified counterbalance shape.
spool of the regulator.

80
Figure 27. As shown in Figures 26 and 27, the maximum
70 amplitude of oscillation of the spool and sleeve is reduced to
half, and the irregular discharge flow rate is improved.
60
Discharge flow (L/min)

50
40
30
20
10
0
5 10 15 20 25
Figure 26: Output of discharge flow through simulation with
modified counterbalance shape.
acting on the counterbalance spool, disappears immediately
by the kinematic constraints.
The fluctuation in displacement of the spool and sleeve
remarkably appears in the pressure cut-off area from 56 to 58
seconds. At this period, the displacement of the counterbal-
ance piston also oscillates, and the irregular discharge flow
rate of the VDAPP is observed. This phenomenon seems to
be accrued due to the discontinuous shape at the edge of
the counterbalance piston because the reacting spring force
of the sleeve acting on the counterbalance piston disappears
immediately at this region.
Therefore, we proposed the rounded shape for the edge
of the counterbalance piston. The effect of rounded edge is
implemented and verified by computer simulation based on
the verified AMESim simulation model. Figure 26 shows the
simulation results of discharge flow rate in which improved
shape of the edge of the counterbalance piston is adopted.
Also, the behaviors of the spool and sleeve are presented in
5. Conclusion
In this study, the constant power mechanical regulator system
with variable displacement axial piston pump is considered.
The constant power mechanical regulator with VDAPP has
a problem of pulsation in the discharge flow rate at the cut-
off area. In order to solve the problem, the internal behavior
of the constant power regulator with VDAPP is analyzed by
30 35 40 45 50 55 60 modeling the system using the AMESim software. The theo-
Time (s) retical analysis of constant power regulator is induced for pre-
cise modeling, and the internal dynamics of un-measurable
components are studied. The validation of the simulation
model is confirmed by comparing the simulation results with
the experimental output of the real system. By analyzing the
dynamics of the unmeasurable internal components, it is
found that the irregular discharge flow rate is caused by the
discontinuous shape at the edge of the counterbalance piston.
Therefore, we proposed the rounded shape for the edge of
the counterbalance piston. The effect of the redesigned shape
is implemented by AMESim simulation, and the validation
is verified by computer simulation. The future work is
experimental confirmation of the redesigned shape.
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